diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5cc4d11..8786cce 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,7 +26,6 @@ ament_package_xml()
 include_directories(include ${rclcpp_INCLUDE_DIRS}
   ${rmw_implementation_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIR}
-  ${TinyXML2_INCLUDE_DIRS}
   ${urdfdom_headers_INCLUDE_DIRS}
   ${urdf_INCLUDE_DIRS}
   ${std_msgs_INCLUDE_DIRS}
@@ -39,14 +38,12 @@ add_library(${PROJECT_NAME} SHARED
 set_target_properties(${PROJECT_NAME} PROPERTIES
   VERSION ${${PROJECT_NAME}_VERSION})
 
-# System dependencies
-target_link_libraries(${PROJECT_NAME} PUBLIC ${TinyXML2_LIBRARIES})
-
 # Ament dependencies
 ament_target_dependencies(${PROJECT_NAME} PUBLIC
+  TinyXML2
   console_bridge
-  urdfdom_headers
   urdf
+  urdfdom_headers
 )
 
 install(TARGETS ${PROJECT_NAME}
@@ -89,9 +86,10 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME} ${TinyXML2_LIBRARIES})
+ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(console_bridge)
 ament_export_dependencies(urdfdom_headers)
 ament_export_dependencies(urdf)
+ament_export_dependencies(tinyxml2_vendor)
 ament_export_dependencies(TinyXML2)
 ament_package()